#ifndef _pa_BNO055_H
#define _pa_BNO055_H

/** BNO055 Address A **/
#define BNO055_ADDRESS_A (0x28)
/** BNO055 Address B **/
#define BNO055_ADDRESS_B (0x29)
/** BNO055 ID **/
#define BNO055_ID (0xA0)

/** Offsets registers **/
#define NUM_BNO055_OFFSET_REGISTERS (22)

typedef struct
{
  double w;
  double x;
  double y;
  double z;
} bno055_vector_t;

/** BNO055 Registers **/
typedef enum
{
  /* Page id register definition */
  BNO055_PAGE_ID_ADDR = 0X07,

  /* PAGE0 REGISTER DEFINITION START*/
  BNO055_CHIP_ID_ADDR = 0x00,
  BNO055_ACCEL_REV_ID_ADDR = 0x01,
  BNO055_MAG_REV_ID_ADDR = 0x02,
  BNO055_GYRO_REV_ID_ADDR = 0x03,
  BNO055_SW_REV_ID_LSB_ADDR = 0x04,
  BNO055_SW_REV_ID_MSB_ADDR = 0x05,
  BNO055_BL_REV_ID_ADDR = 0X06,

  /* Accel data register */
  BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
  BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
  BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
  BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
  BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
  BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,

  /* Mag data register */
  BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
  BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
  BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
  BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
  BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
  BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,

  /* Gyro data registers */
  BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
  BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
  BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
  BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
  BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
  BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,

  /* Euler data registers */
  BNO055_EULER_H_LSB_ADDR = 0X1A,
  BNO055_EULER_H_MSB_ADDR = 0X1B,
  BNO055_EULER_R_LSB_ADDR = 0X1C,
  BNO055_EULER_R_MSB_ADDR = 0X1D,
  BNO055_EULER_P_LSB_ADDR = 0X1E,
  BNO055_EULER_P_MSB_ADDR = 0X1F,

  /* Quaternion data registers */
  BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
  BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
  BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
  BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
  BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
  BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
  BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
  BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,

  /* Linear acceleration data registers */
  BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
  BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
  BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
  BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
  BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
  BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,

  /* Gravity data registers */
  BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
  BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
  BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
  BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
  BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
  BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,

  /* Temperature data register */
  BNO055_TEMP_ADDR = 0X34,

  /* Status registers */
  BNO055_CALIB_STAT_ADDR = 0X35,
  BNO055_SELFTEST_RESULT_ADDR = 0X36,
  BNO055_INTR_STAT_ADDR = 0X37,

  BNO055_SYS_CLK_STAT_ADDR = 0X38,
  BNO055_SYS_STAT_ADDR = 0X39,
  BNO055_SYS_ERR_ADDR = 0X3A,

  /* Unit selection register */
  BNO055_UNIT_SEL_ADDR = 0X3B,
  BNO055_DATA_SELECT_ADDR = 0X3C,

  /* Mode registers */
  BNO055_OPR_MODE_ADDR = 0X3D,
  BNO055_PWR_MODE_ADDR = 0X3E,

  BNO055_SYS_TRIGGER_ADDR = 0X3F,
  BNO055_TEMP_SOURCE_ADDR = 0X40,

  /* Axis remap registers */
  BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
  BNO055_AXIS_MAP_SIGN_ADDR = 0X42,

  /* SIC registers */
  BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
  BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
  BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
  BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
  BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
  BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
  BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
  BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
  BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
  BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
  BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
  BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
  BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
  BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
  BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
  BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
  BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
  BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,

  /* Accelerometer Offset registers */
  ACCEL_OFFSET_X_LSB_ADDR = 0X55,
  ACCEL_OFFSET_X_MSB_ADDR = 0X56,
  ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
  ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
  ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
  ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,

  /* Magnetometer Offset registers */
  MAG_OFFSET_X_LSB_ADDR = 0X5B,
  MAG_OFFSET_X_MSB_ADDR = 0X5C,
  MAG_OFFSET_Y_LSB_ADDR = 0X5D,
  MAG_OFFSET_Y_MSB_ADDR = 0X5E,
  MAG_OFFSET_Z_LSB_ADDR = 0X5F,
  MAG_OFFSET_Z_MSB_ADDR = 0X60,

  /* Gyroscope Offset register s*/
  GYRO_OFFSET_X_LSB_ADDR = 0X61,
  GYRO_OFFSET_X_MSB_ADDR = 0X62,
  GYRO_OFFSET_Y_LSB_ADDR = 0X63,
  GYRO_OFFSET_Y_MSB_ADDR = 0X64,
  GYRO_OFFSET_Z_LSB_ADDR = 0X65,
  GYRO_OFFSET_Z_MSB_ADDR = 0X66,

  /* Radius registers */
  ACCEL_RADIUS_LSB_ADDR = 0X67,
  ACCEL_RADIUS_MSB_ADDR = 0X68,
  MAG_RADIUS_LSB_ADDR = 0X69,
  MAG_RADIUS_MSB_ADDR = 0X6A
} adafruit_bno055_reg_t;

/** BNO055 power settings */
typedef enum
{
  POWER_MODE_NORMAL = 0X00,
  POWER_MODE_LOWPOWER = 0X01,
  POWER_MODE_SUSPEND = 0X02
} adafruit_bno055_powermode_t;

/** Operation mode settings **/
typedef enum
{
  OPERATION_MODE_CONFIG = 0X00,
  OPERATION_MODE_ACCONLY = 0X01,
  OPERATION_MODE_MAGONLY = 0X02,
  OPERATION_MODE_GYRONLY = 0X03,
  OPERATION_MODE_ACCMAG = 0X04,
  OPERATION_MODE_ACCGYRO = 0X05,
  OPERATION_MODE_MAGGYRO = 0X06,
  OPERATION_MODE_AMG = 0X07,
  OPERATION_MODE_IMUPLUS = 0X08,
  OPERATION_MODE_COMPASS = 0X09,
  OPERATION_MODE_M4G = 0X0A,
  OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
  OPERATION_MODE_NDOF = 0X0C
} adafruit_bno055_opmode_t;

/** Remap settings **/
typedef enum
{
  REMAP_CONFIG_P0 = 0x21,
  REMAP_CONFIG_P1 = 0x24, // default
  REMAP_CONFIG_P2 = 0x24,
  REMAP_CONFIG_P3 = 0x21,
  REMAP_CONFIG_P4 = 0x24,
  REMAP_CONFIG_P5 = 0x21,
  REMAP_CONFIG_P6 = 0x21,
  REMAP_CONFIG_P7 = 0x24
} adafruit_bno055_axis_remap_config_t;

/** Remap Signs **/
typedef enum
{
  REMAP_SIGN_P0 = 0x04,
  REMAP_SIGN_P1 = 0x00, // default
  REMAP_SIGN_P2 = 0x06,
  REMAP_SIGN_P3 = 0x02,
  REMAP_SIGN_P4 = 0x03,
  REMAP_SIGN_P5 = 0x01,
  REMAP_SIGN_P6 = 0x07,
  REMAP_SIGN_P7 = 0x05
} adafruit_bno055_axis_remap_sign_t;

void pa_BNO055_init();
bno055_vector_t pa_BNO055_getVector();
bool pa_BNO055_isLastDataValid();
namespace StepCount
{
  extern double bno055_InitZ;
  extern bool counting;
  extern int stepCount;
  extern float distance;
  int bno055_StepCount(bno055_vector_t myBNO055);
  void initFifo();
  void pushToFifo(float a);
} // namespace StepCount

#endif